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introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
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LiDAR ICP odometry code #738

Open kdhRGT opened 2 years ago

kdhRGT commented 2 years ago

Hello author!

i am using your rtabmab 2D LiDAR odometry based on ICP method.

but it takes a lot of resource in my platform now.

so I wanna watch that I can reduce computing power resource to get a robust pose result.

can you tell me which cpp file should I see?

now I am trying to watch the rtabmap lib..

thx to help me

best regards

matlabbe commented 2 years ago

ICP is done in RegistrationIcp.cpp. There are many parameters to play around (like downsampling the scan will increase registration speed). For the local scan map used by lidar odometry, it is updated in OdometryF2M.cpp here.